#include "adaptor_module.h"
#include "custom_event.h"
#include "event_data.h"
#include "deebot_status/deebot_status.h"
#include "utils/dbg/dbg.h"
#include "rectangle.h"
#include "lineobj.h"
#include "frame_manager/rule/create_new_rule.h"
#define POSE_COLLECT_COUNT 20
#define CARPET_ID 20
#define RECTANGLE_VERTICES_SIZE 4
AdaptorModule
::AdaptorModule()
: Module(EventTag
::idx_to_tag(EventRosPose) |
EventTag
::idx_to_tag(EventRosFurnitureInfo) |
EventTag
::idx_to_tag(EventRosCleanState) |
EventTag
::idx_to_tag(EventRosDoorSillsInfo) |
EventTag
::idx_to_tag(EventRosLineLaserData) |
EventTag
::idx_to_tag(EventRosChargeFailed) |
EventTag
::idx_to_tag(EventRosVritualWallsInfo) |
EventTag
::idx_to_tag(EventRosExternalTakePhoto) |
EventTag
::idx_to_tag(EventRosWaveResult))
{
}
void AdaptorModule
::on_init()
{
auto timer = std
::make_shared<BusTimerInfo>();
timer
->second = 5;
timer
->cb = [this, timer]()
{
if (current_moving_state_ == MovingState
::Moving)
{
auto
now = time(nullptr);
auto duration =
now
- last_move_time_;
if (duration >= 5)
{
current_moving_state_ = MovingState
::Stop;
auto items = std
::make_shared<FilterItem>();
items
->items.emplace_back(FilterItem
::Info{"isMoving", Item(std
::make_shared<bool>(false)),
-1});
call_back(EventAddItem, items);
}
}
call_back(EventSetBusTimer, timer);
};
call_back(EventSetBusTimer, timer);
}
void AdaptorModule
::on_event(int EventID, BaseDataType data)
{
switch (EventID)
{
case EventRosPose
:
{
auto practicalData = RosDataType<EventRosPose>
::Dereference(data);
auto items = std
::make_shared<FilterItem>();
auto guard = DeebotStatus
::instance().make_guard();
if (!(DeebotStatus
::instance().robot_pos.x == practicalData
->pose.x && DeebotStatus
::instance().robot_pos.y == practicalData
->pose.y && DeebotStatus
::instance().robot_pos.theta == practicalData
->pose.theta))
{
last_move_time_ = time(nullptr);
if (current_moving_state_ != MovingState
::Moving)
{
items
->items.emplace_back(FilterItem
::Info{"isMoving", Item(std
::make_shared<bool>(true)),
-1});
current_moving_state_ = MovingState
::Moving;
}
}
DeebotStatus
::instance().robot_pos.x = practicalData
->pose.x;
DeebotStatus
::instance().robot_pos.y = practicalData
->pose.y;
DeebotStatus
::instance().robot_pos.theta = practicalData
->pose.theta;
auto r = std
::make_shared<SelfPose>(SelfPose{DeebotStatus
::instance().robot_pos});
items
->items.emplace_back(FilterItem
::Info{"x", Item(std
::make_shared<Numeric>(practicalData
->pose.x)),
-1});
items
->items.emplace_back(FilterItem
::Info{"y", Item(std
::make_shared<Numeric>(practicalData
->pose.y)),
-1});
items
->items.emplace_back(FilterItem
::Info{"theta", Item(std
::make_shared<Numeric>(practicalData
->pose.theta)),
-1});
call_back(EventAddItem, items);
if (++count_ < POSE_COLLECT_COUNT)
{
return;
}
count_ = 0;
call_back(EventMoveLongE
nough, r);
break;
}
case EventRosFurnitureInfo
:
{
LOG(INFO) << "EventRosFurnitureInfo";
auto practicalData = RosDataType<EventRosFurnitureInfo>
::Dereference(data);
for (auto &info
: practicalData
->furnitureinfos)
{
if (RECTANGLE_VERTICES_SIZE == info.outlines2d.size())
{
auto obj_info = std
::make_shared<ObjectInfo>();
obj_info
->name = "furniture" + std
::to_string(info.type);
auto object = std
::make_shared<Rectangle>(info.outlines2d[0].x, info.outlines2d[0].y, info.outlines2d[1].x, info.outlines2d[1].y,
info.outlines2d[2].x, info.outlines2d[2].y, info.outlines2d[3].x, info.outlines2d[3].y);
obj_info
->objects.push_back(object);
LOG(INFO) << "name
:" << obj_info
->name << " pose
:" << object
->poses[0].x << "," << object
->poses[0].y << " " << object
->poses[1].x << "," << object
->poses[1].y << " " << object
->poses[2].x << "," << object
->poses[2].y << " " << object
->poses[3].x << "," << object
->poses[3].y;
call_back(EventAddObjectToMap, obj_info);
}
}
}
break;
case EventRosVritualWallsInfo
:
{
auto practicalData = RosDataType<EventRosVritualWallsInfo>
::Dereference(data);
for (const auto &wall
: practicalData
->vwalls)
{
if (wall.type != 0)
{
continue;
}
auto obj_info = std
::make_shared<ObjectInfo>();
obj_info
->name = "virtualWall";
auto size = wall.dots.size();
if (size != 2)
{
LOG(INFO) << "bad virtual wall size
:" << size;
continue;
}
auto object = std
::make_shared<LineObj>(wall.dots[0].x, wall.dots[0].y, wall.dots[1].x, wall.dots[1].y);
obj_info
->objects.push_back(object);
LOG(INFO) << "name
:" << obj_info
->name << " pose
:" << object
->poses.first.x << "," << object
->poses.first.y << " " << object
->poses.second.x << "," << object
->poses.second.y;
call_back(EventAddObjectToMap, obj_info);
}
}
break;
case EventRosDoorSillsInfo
:
{
LOG(INFO) << "EventRosDoorSillsInfo";
auto practicalData = RosDataType<EventRosDoorSillsInfo>
::Dereference(data);
auto obj_info = std
::make_shared<ObjectInfo>();
obj_info
->name = "doorsill";
for (auto &sill
: practicalData
->sills)
{
auto object = std
::make_shared<Rectangle>(sill.dotFixed[0].x, sill.dotFixed[0].y, sill.dotFixed[1].x, sill.dotFixed[1].y,
sill.dotFixed[2].x, sill.dotFixed[2].y, sill.dotFixed[3].x, sill.dotFixed[3].y);
obj_info
->objects.push_back(object);
LOG(INFO) << "name
:" << obj_info
->name << " pose
:" << object
->poses[0].x << "," << object
->poses[0].y << " " << object
->poses[1].x << "," << object
->poses[1].y << " " << object
->poses[2].x << "," << object
->poses[2].y << " " << object
->poses[3].x << "," << object
->poses[3].y;
}
call_back(EventAddObjectToMap, obj_info);
}
break;
case EventRosWaveResult
:
{
auto practicalData = RosDataType<EventRosWaveResult>
::Dereference(data);
for (auto info
: practicalData.get()
->values)
{
if (o
nOffInfo
::O
nOffSensorValue
::TYPE_CARPET == info.type && 1 == info.value)
{
auto items = std
::make_shared<FilterItem>();
items
->items.emplace_back(FilterItem
::Info{"WaveFoundCarpet", Item(std
::make_shared<bool>(true))});
call_back(EventAddItem, items);
}
}
}
break;
case EventRosCleanState
:
{
LOG(INFO) << "EventRosCleanState";
auto practicalData = RosDataType<EventRosCleanState>
::Dereference(data);
uint8_t state = practicalData
->state;
uint8_t work_type = practicalData
->worktype;
auto items = std
::make_shared<FilterItem>();
items
->items.emplace_back(FilterItem
::Info{"workState", Item(std
::make_shared<Numeric>(state)),
-1});
items
->items.emplace_back(FilterItem
::Info{"workType", Item(std
::make_shared<Numeric>(work_type)),
-1});
items
->items.emplace_back(FilterItem
::Info{"currentCleanStart", Item(std
::make_shared<std
::string>(std
::to_string(time(nullptr)))),
-1});
if (WORK_TYPE_IDLE == work_type && (CLEAN_RUNNING == last_clean_state || CLEAN_PAUSED == last_clean_state))
{
LOG(INFO) << "Robot
become IDLE";
last_clean_state = CLEAN_IDLE;
items
->items.emplace_back(FilterItem
::Info{"newClearRound", Item(std
::make_shared<bool>(true))});
call_back(EventAddItem, items);
return;
}
if (work_type == WORK_TYPE_IDLE)
{
call_back(EventAddItem, items);
return;
}
if (last_clean_state == state)
{
call_back(EventAddItem, items);
return;
}
if (CLEAN_IDLE == last_clean_state && CLEAN_RUNNING == state)
{
items
->items.emplace_back(FilterItem
::Info{"newClearRound", Item(std
::make_shared<bool>(true))});
}
else if (CLEAN_PAUSED == last_clean_state)
{
if (CLEAN_RUNNING == state)
{
LOG(INFO) << "Resume collect";
}
else if (CLEAN_IDLE == state)
{
items
->items.emplace_back(FilterItem
::Info{"roundFinished", Item(std
::make_shared<bool>(true))});
}
}
else if (CLEAN_RUNNING == last_clean_state)
{
if (CLEAN_IDLE == state)
{
items
->items.emplace_back(FilterItem
::Info{"roundFinished", Item(std
::make_shared<bool>(true))});
}
else if (CLEAN_PAUSED == state)
{
LOG(INFO) << "Collect paused";
}
}
last_clean_state = state;
LOG(INFO) << "New clean state
:" << (int)last_clean_state;
call_back(EventAddItem, items);
}
break;
case EventRosChargeFailed
:
{
LOG(INFO) << "EventRosChargeFailed";
auto practicalData = RosDataType<EventRosChargeFailed>
::Dereference(data);
u_int16_t type = practicalData
->type;
u_int32_t code = practicalData
->code;
uint8_t reason = practicalData
->reason;
LOG(INFO) << "chargeFailedType
:" << type;
LOG(INFO) << "chargeFailedCode
:" << code;
LOG(INFO) << "chargeFailedReason
:" << reason;
auto items = std
::make_shared<FilterItem>();
items
->items.emplace_back(FilterItem
::Info{"chargeFailedType", Item(std
::make_shared<Numeric>(type))});
items
->items.emplace_back(FilterItem
::Info{"chargeFailedCode", Item(std
::make_shared<std
::string>(std
::to_string(code)))});
items
->items.emplace_back(FilterItem
::Info{"chargeFailedReason", Item(std
::make_shared<Numeric>(reason))});
call_back(EventAddItem, items);
}
break;
case EventRosLineLaserData
:
{
auto practicalData = RosDataType<EventRosLineLaserData>
::Dereference(data);
// 只需要正前方传感器
if (practicalData
->idx == 1)
return;
std
::vector<float> single_raw_linelsaer_data;
single_raw_linelsaer_data.push_back(practicalData
->pose.pose.x);
single_raw_linelsaer_data.push_back(practicalData
->pose.pose.y);
single_raw_linelsaer_data.push_back(practicalData
->pose.pose.theta);
single_raw_linelsaer_data.push_back((int)practicalData
->idx);
for (int i = 0; i < practicalData
->points.size(); i++)
{
single_raw_linelsaer_data.push_back(practicalData
->points[i].x);
single_raw_linelsaer_data.push_back(practicalData
->points[i].y);
single_raw_linelsaer_data.push_back(practicalData
->points[i].z);
single_raw_linelsaer_data.push_back(practicalData
->grayscales[i]);
}
auto guard = DeebotStatus
::instance().make_guard();
DeebotStatus
::instance().current_raw_linelsaer_data = std
::move(single_raw_linelsaer_data);
}
break;
case EventRosExternalTakePhoto
:
{
LOG(INFO) << "EventRosExternalTakePhoto";
static int external_take_photo_id;
auto practicalData = RosDataType<EventRosExternalTakePhoto>
::Dereference(data);
LOG(INFO)<<"EventRosExternalTakePhoto METADATA
:"<<practicalData
->metadata;
if (practicalData
->type == 0)
{
auto items = std
::make_shared<FilterItem>();
items
->items.emplace_back(FilterItem
::Info{"externalTakePhoto", Item(std
::make_shared<bool>(true))});
try
{
json external_metadata_j = json
::parse(practicalData
->metadata);
int cnt = 0;
for (nlohmann
::json
::const_iterator it = external_metadata_j.
begin(); it != external_metadata_j.end(); ++it)
{
if (++cnt > 5)
{
// 最大允许5个la
bel
break;
}
if (it.value().is_num
ber())
items
->items.emplace_back(FilterItem
::Info{it.key(), Item(std
::make_shared<Numeric>(it.value().get<float>()))});
if (it.value().is_string())
items
->items.emplace_back(FilterItem
::Info{it.key(), Item(std
::make_shared<std
::string>(it.value().get<std
::string>()))});
if (it.value().is_boolean())
items
->items.emplace_back(FilterItem
::Info{it.key(), Item(std
::make_shared<bool>(it.value().get<bool>()))});
}
}
catch (...)
{
LOG(INFO) << "bad externalMetaData";
}
call_back(EventAddItem, items);
}
else if (practicalData
->type == 1)
{
auto r = std
::make_shared<CreateNewRuleChain>();
r
->filter_expression = R"("mapObject"
:{"objType"
:"externalRequiredOBJ","objValue"
:#REPLACE_ME,"inView"
:true})";
std
::string placeholder = "#REPLACE_ME";
size_t pos = r
->filter_expression.find(placeholder);
if (pos != std
::string
::npos)
{
r
->filter_expression.replace(pos, placeholder.length(), std
::to_string(external_take_photo_id));
}
r
->mission_info.name = "external_mission" + std
::to_string(external_take_photo_id);
r
->mission_info.filter_expression = r
->filter_expression;
std
::string syringe_str = R"([{"tag_name"
:"externalTakePhoto","time_to_live"
:"1","element"
:true}])";
auto syringe_config = json
::parse(syringe_str);
json temp;
temp["tag_name"] = "externalMetaData";
temp["time_to_live"] = 1;
temp["element"] = practicalData
->metadata;
syringe_config.push_back(temp);
int cnt = 0;
try
{
json external_metadata_j = json
::parse(practicalData
->metadata);
for (nlohmann
::json
::const_iterator it = external_metadata_j.
begin(); it != external_metadata_j.end(); ++it)
{
if (++cnt > 5)
{
// 最大允许5个la
bel
break;
}
json temp;
temp["tag_name"] = it.key();
temp["time_to_live"] = 1;
temp["element"] = it.value();
syringe_config.push_back(temp);
}
}
catch (...)
{
LOG(INFO) << "bad externalMetaData";
}
r
->mission_info.collectors_info.push_back({"syringe", syringe_config});
r
->limiter_config.push_back({"privacy", json()});
auto obj_info = std
::make_shared<ObjectInfo>();
obj_info
->name = "externalRequiredOBJ" + std
::to_string(external_take_photo_id);
for (const auto &e
: practicalData
->points)
{
// 从点到矩形
auto object = std
::make_shared<Rectangle>(e.x, e.y, e.x + 1, e.y, e.x, e.y + 1, e.x + 1, e.y + 1);
obj_info
->objects.push_back(object);
LOG(INFO) << "name
:" << obj_info
->name << " pose
:" << object
->poses[0].x << "," << object
->poses[0].y << " " << object
->poses[1].x << "," << object
->poses[1].y << " " << object
->poses[2].x << "," << object
->poses[2].y << " " << object
->poses[3].x << "," << object
->poses[3].y;
}
external_take_photo_id++;
call_back(EventAddObjectToMap, obj_info);
call_back(EventChainAddNewRuleWithJson, r);
}
}
break;
default
:
LOG(INFO) << "bad event catch in " << get_module_name();
break;
}
}
std
::string AdaptorModule
::get_module_name()
{
return "AdaptorModule";
}
详细解释这段代码
本文介绍了当使用高版本Oracle客户端尝试从较低版本的Oracle服务器导出数据时遇到的问题，并提供了解决方案。具体表现为使用EXP命令导出数据时出现错误提示，原因是客户端版本高于服务器版本。
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